23 #include "info_thread.h"
28 #include <interfaces/JacoInterface.h>
69 if (arm_ == NULL || arm_->
arm == NULL || arm_->
iface == NULL)
91 for (
unsigned int i = 0; i < apos_.size(); i++) {
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual ~JacoInfoThread()
Destructor.
JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Thread aspect to use blocked timing.
Base class for exceptions in Fawkes.
virtual const char * what() const
Get primary string.
virtual void get_joints(std::vector< float > &to) const =0
Get the joint angles of the arm.
virtual void get_fingers(std::vector< float > &to) const =0
Get the position values of the fingers.
virtual void get_coords(std::vector< float > &to)=0
Get the cartesian coordinates of the arm.
void set_finger2(const float new_finger2)
Set finger2 value.
void set_connected(const bool new_connected)
Set connected value.
void set_euler3(const float new_euler3)
Set euler3 value.
void set_z(const float new_z)
Set z value.
void set_y(const float new_y)
Set y value.
void set_finger1(const float new_finger1)
Set finger1 value.
void set_finger3(const float new_finger3)
Set finger3 value.
void set_euler1(const float new_euler1)
Set euler1 value.
void set_x(const float new_x)
Set x value.
void set_euler2(const float new_euler2)
Set euler2 value.
bool is_final() const
Get final value.
void set_joints(unsigned int index, const float new_joints)
Set joints value at given index.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
Logger * logger
This is the Logger member used to access the logger.
Thread class encapsulation of pthreads.
const char * name() const
Get name of thread.
Fawkes library namespace.
Jaco struct containing all components required for one arm.
fawkes::JacoArm * arm
pointer to actual JacoArm instance, controlling this arm
JacoInterface * iface
pointer to JacoInterface, assigned to this arm